molmobot-data

MolmoBot-data Training episode data (actions, visual inputs, and other sensor data) for 8 tasks on 2 robotic platforms: DoorOpeningDataGenConfig RBY1OpenDataGenConfig RBY1PickDataGenConfig FrankaPickOmniCamConfig RBY1PickAndPlaceDataGenConfig FrankaPickAndPlaceOmniCamConfig FrankaPickAndPlaceColorOmniCamConfig FrankaPickAndPlaceNextToOmniCamConfig Please note that every package indexed by the parquet files can contain several instances of episode data. We also provide an extension dataset for `FrankaPickAndPlace` (not used to train any of our shared models) with additional object types: FrankaPickAndPlaceOmniCamConfig_ObjectBackfill Data access We recommend to use bulk_download.py. For example, will download and extract one shard from each part of each configuration in each available split under `/path/to/mbdata`. To launch it you might need to install some dependencies, e.g., by: A standalone example of how to access the episode data via streaming is also included in stream_access_example.py. Episodes with commercial use-friendly licenses commercial_episodes-parquet provides a list with all scenes and episodes where all objects in the scene have a commercial use-frienfly license (aka non-NC) across all data configs, parts, and splits. Example filtering usage: `valid_episodes_string == "*"` means all episodes are valid for the current config/split/part/scene (no added objects), else, only the given comma-separated episode indices have all objects under commercial use-friendly licenses. Dataset post-processing and stats After bulk downloading data, please use repair_video_paths.py to fix video paths, validate_trajectories.py to extract valid trajectories from each dataset and part, and calculate_stats.py to extract dataset stats. For example: License This dataset is licensed under ODC-BY 1.0. It is intended for research and educational use in accordance with Ai2's Responsible Use Guidelines. The subset of Objaverse used to generate these data is licensed under ODC-BY